Sesame open-source 8-DoF robot dog, 3D render from Sesame-ESP32-v122.step

Sesame

Open ESP32 mini quadruped with 8 MG90S servos, an OLED face and a 3D-printed body.

Start the build

What it is

Sesame is an open-source mini quadruped by Dorian Todd, built around an ESP32 (a hand-wired Lolin S2 Mini, or the custom Sesame Distro Board V3.1 with an ESP32-S3), eight 180 degree MG90S servos (two per leg) and a 128x64 SSD1306 OLED that acts as an animated face. The repo holds the Fusion 360 (.f3z) and STEP assembly, PLA STLs for the 11 printed parts, a Markdown BOM, EasyEDA schematic and PCB sources with Gerber, BOM and pick-and-place files for the distro boards, build, wiring and printing guides, Arduino firmware with a Wi-Fi web UI and JSON API, and the Sesame Studio animation tool, all under Apache-2.0. The README's "$50-60 in hardware components" is an upstream estimate: the BOM links representative Amazon searches without prices, and build kits sold in rounds through Full Contact Engineering showed no price and were sold out at review time. A community Rust simulator and the separate sesame-ml repo (URDF and MJCF) live outside this repo.

Licenses

Hardware
Apache-2.0
Software
Apache-2.0
Docs
Not published

Degrees of freedom

8 DoF hip 4leg 4

Breakdown source

QuadrupedTwo dof legssource

Auto-assembled, not yet reviewed

Source record

Sources
4.5k stars, last push 2026-09-13
HW license
Apache-2.0
Cost
$55estimate, hardware components for one robot, stated upstream as a 50 to 60 USD range (midpoint recorded); 3D printing not included
Lifecycle
Active
Engine
v3.1.1
Checked
Model
Sesame-ESP32-v122.step@d106cbcrendered 2026-10-02
Envelope
130 × 92 × 135 mmas modelled, default pose

Maintain Sesame? Claim this page to correct it.

Parts and cost

19 rows

Cost to build

$55USDestimate
  • hardware components for one robot, stated upstream as a 50 to 60 USD range (midpoint recorded); 3D printing not included$55estimate

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Sesame parts, as the source lists them. Prices are the source's, not checked against vendors.

Sesame bill of materials
PartQtySpecSourceConfidence
180 degree MG90S all-metal micro servosPrimary hip/leg actuators with servo horns; upstream says buy 10 for spares and that only the 180 degree version works
8MG90S metal gear micro servo, 180 degree
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 13
high
0.96 inch SSD1306 I2C OLED128x64 display that slides into the top cover slot
1SSD1306, I2C, 128x64
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 14
high
USB-C data/power cableNeeds to carry 5V/3A for flashing and tethered mode
1USB-C, 5V 3A capable
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 15
high
Rocker power switch (KCD1, panel mount)Snaps into the top cover cutout
1KCD1 mini rocker switch
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 16
high
22AWG silicone wire kitPower/ground bus lines
122AWG silicone wire
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 17
high
30AWG silicone wire kitSignal leads and dense harnessing
130AWG silicone wire
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 18
high
Heat-shrink assortmentInsulate OLED, switch and battery joints; the consumables and tools checklist (solder, flux, wick, cutters, screwdrivers) is listed upstream but not transcribed
1heat-shrink tubing kit
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 19
high
Small zip tiesBundling wires inside the frame; upstream quantity is 1 pack
1mini zip ties, 1 pack
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 20
high
Lolin/WeMos ESP32-S2 MiniWiring option A (hand-wired, recommended for DIY builds): native USB-C, fits on perfboard
1ESP32-S2 Mini board
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 29
high
Small protoboard (approx. 5x7 cm)Wiring option A: hosts the header matrix and power rails
1perfboard, approx. 5x7 cm
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 30
high
3-pin male headersWiring option A: servo breakout, spacing matched to the MG90 plugs
83-pin male pin header
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 31
high
Buck converter (5-12 V in to stable 5V/3A out)Wiring option A: powers motors and MCU when running on batteries
1DC-DC buck module, 5V 3A output
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 32
high
Sesame Distro Board V3/V2 PCBWiring option B, included pre-flashed in Sesame Build Kits: fully SMD, order with PCBway assembly or hand-solder (advanced). Legacy option C (Distro Board V1 on an ESP32-DevKitC-32E) parts are listed upstream
1custom Sesame distro board; V3.1 design files in hardware/pcb/distro-v3.1
PCBway assembly service (per upstream note) or build kitnot listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 41
high
Bambu Lab 14500 7.4V 800mAh Li-ion BatteryRecommended wireless pack designed to fit the new internal frame
114500 7.4V 800mAh Li-ion pack
Bambu Lab (affiliate link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 62
high
Bambu Lab 7.4V Lithium battery chargerMatching charger for the 14500 battery with XH2.54 connector
17.4V lithium charger, XH2.54
Bambu Lab (affiliate link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 63
high
XH2.54 female pigtailInterfaces the battery to the switch/PCB without cutting stock leads (V3 requires soldering)
1XH2.54 female pigtail cable
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 64
high
M2 x 5 mm self-threading screwsAll plastic joints, OLED retention, motor mounts and covers; upstream gives about 40 and suggests a variety pack
40M2 x 5 mm self-tapping
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 70
high
M2.5 x 5mm machine screwsServo horn attachment to servo shafts only; the included horn screws are usually too short
10M2.5 x 5 mm machine screw
Amazon (representative search link)not listed in source BOMdorianborian/sesame-robot hardware/bom/README.md line 71
high
3D printed part setThe 11-part set from hardware/printing: internal frame, top and bottom covers, joints R1-R4 and L1-L4
11PLA/PLA+ prints from hardware/printing/stl
3D print yourselffilament not priced in source BOMdorianborian/sesame-robot hardware/bom/README.md line 75
high

Rows from the source's own parts list 25

hardware/bom/README.md@d106cbcmarkdown

Source rowQtyPrice and vendorLine
180 degree MG90S all-metal micro servos
8 (buy 10 for spares)
Amazonamazon.comno price listed
L13
0.96" SSD1306 I2C OLED
1
Amazonamazon.comno price listed
L14
USB-C data/power cable
1
Amazonamazon.comno price listed
L15
Rocker power switch (KCD1, panel mount)
1
Amazonamazon.comno price listed
L16
22AWG silicone wire kit
1
Amazonamazon.comno price listed
L17
30AWG silicone wire kit
1
Amazonamazon.comno price listed
L18
Heat-shrink assortment
1
Amazonamazon.comno price listed
L19
Small zip ties
1 pack
Amazonamazon.comno price listed
L20

17 more rows in hardware/bom/README.md

How to build

6 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Gather parts and print

    Print the 11 PLA parts (internal frame, top and bottom covers, joints R1-R4 and L1-L4); upstream recommends 8-10% honeycomb infill with 2 walls, and only the top cover needs supports. Source the electronics from the BOM and bench-test every MG90S servo to catch dead units.

    Motari summarygithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...

  2. Build the wiring harness

    Pick a wiring route (hand-wired S2 Mini, Distro Board V3/V2, or legacy Distro Board V1) and build about 90% of the harness on the bench: solder the rails and buck converter first (trimmed to 5.1 V), then route the signal wires. Leave the power switch and OLED leads unsoldered for now.

    Upstream stepgithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...

  3. Pre-assemble joints and top cover

    Press a one-sided servo horn into each of the four hip joints and fix it with an M2 self-threading screw, but do not mount the joints yet. Screw a servo into each leg piece, then fit the power switch and the soldered OLED into the top cover.

    Upstream stepgithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...

  4. Mount motors and electronics

    Insert the battery holder and the four side motors into the internal frame (shafts facing out) and screw them in. Lower the harness in with the USB port at the rear and screw down the S2 Mini, the V1 board on standoffs, or the V3/V2 board.

    Upstream stepgithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...

  5. Calibrate and attach the joints

    With the joints off, flash sesame-motor-tester.ino (S2 Mini or V1) or use the pre-flashed V3/V2 web portal, and plug in motors 0 to 7 by the angle guide. In Stand, push each hip joint on at 45 degrees, check it against Rest, then fix it with an M2.5 screw; repeat for the legs.

    Upstream stepgithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...

  6. Close up and flash the firmware

    Press the wires into the underside channels, zip-tie them in two bundles, and screw on the top and bottom covers. DIY and V1 builds then flash sesame-firmware-main.ino from Arduino IDE (ESP32Servo v3.0.9, Adafruit SSD1306 and GFX), connect to the robot's Wi-Fi access point and trigger a pose.

    Motari summarygithub.com/dorianborian/sesame-robot/blob/d106cbc8e158c982f4...
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

How reproducible

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

89/100Strong source coverage, unverified

Capped at 89: the criteria add up to 90, and a score of 90 or more needs a reviewed build.

Engine v3.1.1 at d106cbc

How this score is computed

Files and sim

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from hardware/cad/Sesame-ESP32-v122.step at d106cbc.

Builds

0 reviewed

No reviewed builds of Sesame yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources

Where the facts come from

Last push to dorianborian/sesame-robot: 2026-09-13 (checked 2026-10-02)

Related links

How this page was made

Assembled from public sources on 2026-09-30, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: 2026-09-30 dorianborian/sesame-robot@d106cbc README, LICENSE, tree.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Sesame? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 89/100

Markdown
[![Motari reproducibility score for Sesame](https://motari.io/api/v1/badge/sesame-robot)](https://motari.io/r/sesame-robot)
HTML
<a href="https://motari.io/r/sesame-robot"><img src="https://motari.io/api/v1/badge/sesame-robot" alt="Motari reproducibility score for Sesame" height="20"></a>

A score of 90 or more needs a reviewed build. How the score is computed